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Ported almost everything to new param interface, ready for serious testing

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This commit is contained in:
Lorenz Meier
2012-08-24 00:01:23 +02:00
parent b07de1379d
commit 62e07358b4
9 changed files with 297 additions and 353 deletions
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apps/commander/commander.c
+84 -92
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@@ -68,6 +68,7 @@
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/subsystem_info.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
@@ -108,7 +109,7 @@ static int deamon_task; /**< Handle of deamon task / thread */
/* pthread loops */
static void *command_handling_loop(void *arg);
// static void *subsystem_info_loop(void *arg);
static void *orb_receive_loop(void *arg);
__EXPORT int commander_main(int argc, char *argv[]);
@@ -137,6 +138,16 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u
*/
static void usage(const char *reason);
/**
* Sort calibration values.
*
* Sorts the calibration values with bubble sort.
*
* @param a The array to sort
* @param n The number of entries in the array
*/
static void cal_bsort(int16_t a[], int n);
static int buzzer_init()
{
buzzer = open("/dev/tone_alarm", O_WRONLY);
@@ -227,7 +238,7 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u
return 0;
}
void cal_bsort(int16_t a[], int n)
static void cal_bsort(int16_t a[], int n)
{
int i,j,t;
for(i=0;i<n-1;i++)
@@ -465,9 +476,17 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *current_status
gyro_offset[1] = gyro_offset[1] / calibration_count;
gyro_offset[2] = gyro_offset[2] / calibration_count;
global_data_parameter_storage->pm.param_values[PARAM_SENSOR_GYRO_XOFFSET] = gyro_offset[0];
global_data_parameter_storage->pm.param_values[PARAM_SENSOR_GYRO_YOFFSET] = gyro_offset[1];
global_data_parameter_storage->pm.param_values[PARAM_SENSOR_GYRO_ZOFFSET] = gyro_offset[2];
if (param_set(param_find("SENSOR_GYRO_XOFF"), &(gyro_offset[0]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting X gyro offset failed!");
}
if (param_set(param_find("SENSOR_GYRO_YOFF"), &(gyro_offset[1]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Y gyro offset failed!");
}
if (param_set(param_find("SENSOR_GYRO_ZOFF"), &(gyro_offset[2]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Z gyro offset failed!");
}
char offset_output[50];
sprintf(offset_output, "[commander] gyro cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
@@ -625,6 +644,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* send any requested ACKs */
if (cmd->confirmation > 0) {
/* send acknowledge command */
// XXX TODO
}
}
@@ -641,7 +661,7 @@ static void *command_handling_loop(void *arg)
int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
struct vehicle_command_s cmd;
while (1) {
while (!thread_should_exit) {
struct pollfd fds[1] = { { .fd = cmd_sub, .events = POLLIN } };
if (poll(fds, 1, 5000) == 0) {
@@ -655,71 +675,37 @@ static void *command_handling_loop(void *arg)
}
}
close(cmd_sub);
return NULL;
}
// static void *subsystem_info_loop(void *arg) //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal
// {
// /* Set thread name */
// prctl(PR_SET_NAME, "commander subsys", getpid());
static void *orb_receive_loop(void *arg) //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal
{
/* Set thread name */
prctl(PR_SET_NAME, "commander orb rcv", getpid());
// uint8_t current_info_local = SUBSYSTEM_INFO_BUFFER_SIZE;
// uint16_t total_counter = 0;
/* Subscribe to command topic */
int subsys_sub = orb_subscribe(ORB_ID(subsystem_info));
struct subsystem_info_s info;
// while (1) {
while (!thread_should_exit) {
struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } };
// if (0 == global_data_wait(&global_data_subsystem_info->access_conf)) {
// // printf("got subsystem_info\n");
if (poll(fds, 1, 5000) == 0) {
/* timeout, but this is no problem, silently ignore */
} else {
/* got command */
orb_copy(ORB_ID(subsystem_info), subsys_sub, &info);
// while (current_info_local != global_data_subsystem_info->current_info) {
// // printf("current_info_local = %d, current_info = %d \n", current_info_local, global_data_subsystem_info->current_info);
printf("Subsys changed: %d\n", (int)info.subsystem_type);
}
}
// current_info_local++;
close(subsys_sub);
// if (current_info_local >= SUBSYSTEM_INFO_BUFFER_SIZE)
// current_info_local = 0;
// /* Handle the new subsystem info and write updated version of global_data_sys_status */
// subsystem_info_t *info = &(global_data_subsystem_info->info[current_info_local]);
// // printf("Commander got subsystem info: %d %d %d\n", info->present, info->enabled, info->health);
// if (info->present != 0) {
// update_state_machine_subsystem_present(stat_pub, &current_status, &info->subsystem_type);
// } else {
// update_state_machine_subsystem_notpresent(stat_pub, &current_status, &info->subsystem_type);
// }
// if (info->enabled != 0) {
// update_state_machine_subsystem_enabled(stat_pub, &current_status, &info->subsystem_type);
// } else {
// update_state_machine_subsystem_disabled(stat_pub, &current_status, &info->subsystem_type);
// }
// if (info->health != 0) {
// update_state_machine_subsystem_healthy(stat_pub, &current_status, &info->subsystem_type);
// } else {
// update_state_machine_subsystem_unhealthy(stat_pub, &current_status, &info->subsystem_type);
// }
// total_counter++;
// }
// if (global_data_subsystem_info->counter - total_counter > SUBSYSTEM_INFO_BUFFER_SIZE) {
// printf("[commander] Warning: Too many subsystem status updates, subsystem_info buffer full\n"); //TODO: add to error queue
// global_data_subsystem_info->counter = total_counter; //this makes sure we print the warning only once
// }
// global_data_unlock(&global_data_subsystem_info->access_conf);
// }
// }
// return NULL;
// }
return NULL;
}
@@ -736,16 +722,31 @@ enum BAT_CHEM {
*/
float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage);
PARAM_DEFINE_FLOAT(BAT_VOLT_EMPTY, 3.2f);
PARAM_DEFINE_FLOAT(BAT_VOLT_FULL, 4.05f);
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f);
PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f);
float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage)
{
float ret = 0;
// XXX do this properly
// XXX rebase on parameters
const float chemistry_voltage_empty[] = {3.2f};
const float chemistry_voltage_full[] = {4.05f};
static param_t bat_volt_empty;
static param_t bat_volt_full;
static bool initialized = false;
static unsigned int counter = 0;
if (!initialized) {
bat_volt_empty = param_find("BAT_V_EMPTY");
bat_volt_full = param_find("BAT_V_FULL");
initialized = true;
}
float chemistry_voltage_empty[1];
float chemistry_voltage_full[1];
if (counter % 100 == 0) {
param_get(bat_volt_empty, chemistry_voltage_empty+0);
param_get(bat_volt_full, chemistry_voltage_full+0);
}
counter++;
ret = (voltage - cells * chemistry_voltage_empty[chemistry]) / (cells * (chemistry_voltage_full[chemistry] - chemistry_voltage_empty[chemistry]));
@@ -817,9 +818,9 @@ int commander_thread_main(int argc, char *argv[])
/* welcome user */
printf("[commander] I am in command now!\n");
/* Pthreads */
/* pthreads for command and subsystem info handling */
pthread_t command_handling_thread;
// pthread_t subsystem_info_thread;
pthread_t subsystem_info_thread;
/* initialize */
if (led_init() != 0) {
@@ -853,31 +854,21 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_info(mavlink_fd, "[commander] system is running");
/* load EEPROM parameters */
if (OK == get_params_from_eeprom(global_data_parameter_storage)) {
printf("[commander] Loaded EEPROM params in RAM\n");
mavlink_log_info(mavlink_fd, "[commander] Loaded EEPROM params in RAM");
} else {
fprintf(stderr, "[commander] ERROR loading EEPROM params in RAM\n");
mavlink_log_critical(mavlink_fd, "[commander] ERROR loading EEPROM params in RAM");
}
/* create pthreads */
pthread_attr_t command_handling_attr;
pthread_attr_init(&command_handling_attr);
pthread_attr_setstacksize(&command_handling_attr, 4096);
pthread_create(&command_handling_thread, &command_handling_attr, command_handling_loop, NULL);
// pthread_attr_t subsystem_info_attr;
// pthread_attr_init(&subsystem_info_attr);
// pthread_attr_setstacksize(&subsystem_info_attr, 2048);
// pthread_create(&subsystem_info_thread, &subsystem_info_attr, subsystem_info_loop, NULL);
pthread_attr_t subsystem_info_attr;
pthread_attr_init(&subsystem_info_attr);
pthread_attr_setstacksize(&subsystem_info_attr, 2048);
pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, NULL);
/* Start monitoring loop */
uint16_t counter = 0;
uint8_t flight_env;
// uint8_t fix_type;
/* Initialize to 3.0V to make sure the low-pass loads below valid threshold */
float battery_voltage = VOLTAGE_BATTERY_HIGH_VOLTS;
bool battery_voltage_valid = true;
@@ -888,9 +879,6 @@ int commander_thread_main(int argc, char *argv[])
int16_t mode_switch_rc_value;
float bat_remain = 1.0f;
// bool arm_done = false;
// bool disarm_done = false;
uint16_t stick_off_counter = 0;
uint16_t stick_on_counter = 0;
@@ -919,7 +907,7 @@ int commander_thread_main(int argc, char *argv[])
/* now initialized */
commander_initialized = true;
while (1) {
while (!thread_should_exit) {
/* Get current values */
orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
@@ -930,8 +918,6 @@ int commander_thread_main(int argc, char *argv[])
battery_voltage_valid = sensors.battery_voltage_valid;
bat_remain = battery_remaining_estimate_voltage(3, BAT_CHEM_LITHIUM_POLYMERE, battery_voltage);
// flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
/* Slow but important 8 Hz checks */
if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) {
/* toggle activity (blue) led at 1 Hz in standby, 10 Hz in armed mode */
@@ -1186,11 +1172,17 @@ int commander_thread_main(int argc, char *argv[])
/* wait for threads to complete */
pthread_join(command_handling_thread, NULL);
// pthread_join(subsystem_info_thread, NULL);
pthread_join(subsystem_info_thread, NULL);
/* close fds */
led_deinit();
buzzer_deinit();
close(rc_sub);
close(gps_sub);
close(sensor_sub);
printf("[commander] exiting..\n");
fflush(stdout);
thread_running = false;